mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.5 KiB
C++
60 lines
1.5 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
battery model for electric aircraft
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <Filter/LowPassFilter.h>
|
|
|
|
namespace SITL {
|
|
|
|
/*
|
|
class to describe a motor position
|
|
*/
|
|
class Battery {
|
|
public:
|
|
void setup(float _capacity_Ah, float _resistance, float _max_voltage);
|
|
|
|
void init_voltage(float voltage);
|
|
|
|
void set_current(float current_amps);
|
|
float get_voltage(void) const;
|
|
|
|
// return battery temperature in Kelvin:
|
|
float get_temperature(void) const { return temperature.kelvin; }
|
|
|
|
private:
|
|
float capacity_Ah;
|
|
float resistance;
|
|
float max_voltage;
|
|
float voltage_set;
|
|
float remaining_Ah;
|
|
uint64_t last_us;
|
|
|
|
struct {
|
|
float kelvin = 273;
|
|
uint64_t last_update_micros;
|
|
} temperature;
|
|
|
|
// 10Hz filter for battery voltage
|
|
LowPassFilterFloat voltage_filter{10};
|
|
|
|
float get_resting_voltage(float charge_pct) const;
|
|
void set_initial_SoC(float voltage);
|
|
};
|
|
}
|